27193208698

Committed 09 Jun 2026 08:17AM UTC coverage: 91.22% (+5.7%) from 85.523%

Build # 27193208698

Build Type

push

github

Committed by

web-flow

Commit Message

Phase 2: convert lib/, index.js and tests to native ES modules (#1530)

**Overview:** 189 files changed, +957 / −1162. Converts `lib/`, `index.js`, `bin/`, `rosocket/` and the full test suite to native ES modules; keeps build/codegen tooling as `.cjs`; updates CI to ROS 2 Lyrical (Ubuntu 26.04); and fixes a native-addon debug-build compile error.

### Core ESM conversion
- **`index.js`** — converted to ESM entrypoint (`import`/`export`), module wiring reworked.
- **`lib/**`** — all library modules converted from `require`/`module.exports` to `import`/`export` (node, client, service, publisher, subscription, action/*, clock*, parameter*, logging*, runtime/*, serialization, time*, timer, qos*, utils, validator, native_loader, etc.).
- **`bin/rclnodejs-web.js`**, **`rosocket/index.js`**, **`rosocket/cli.js`** — converted to ESM.

### ESM/CJS boundary fixes (from Copilot review)
- **`lib/native_loader.js`** — load the CommonJS `bindings` helper via `createRequire`'s `require('bindings')` instead of `import bindings from 'bindings'`, preserving CJS caller context for addon resolution.
- **`lib/type_description_service.js`** — corrected sibling import from `'../lib/parameter.js'` to `'./parameter.js'`.

### CommonJS files kept as `.cjs`
- **`rosidl_gen/*.cjs`** (deallocator, idl_generator, index, primitive_types, templates/message-template), **`rostsd_gen/index.cjs`**, **`scripts/ros_distro.cjs`**, **`scripts/run_test.cjs`** — build/codegen tooling stays CJS (loads ESM helpers via supported `require(esm)` / `.default`).
- **`third_party/ref-napi/`** — `lib/ref.js` and `package.json` tweaks for module resolution.

### Tooling / config
- **`package.json`** — `"type": "module"` and script adjustments.
- **`eslint.config.mjs`** — ESM lint rules.
- **`.c8rc.json`** added, **`.nycrc.yml`** removed — switch coverage from nyc to c8.

### CI
- **`.github/workflows/linux-x64-asan-test.yml`**, **`.github/workflows/linux-x64-build-and-test.yml`** — migrated from ROS 2 ... (continued)

Coverage Stats

2044 of 2402 branches covered (85.1%)

Branch coverage included in aggregate %.

369 of 370 new or added lines in 65 files covered. (99.73%)

942 existing lines in 47 files now uncovered.

16688 of 18133 relevant lines covered (92.03%)

228.85 hits per line

Source File
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98.38

/lib/timer.js

// Copyright (c) 2017 Intel Corporation. All rights reserved.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

import rclnodejs from './native_loader.js';
import DistroUtils from './distro.js';

/**
 * @class - Class representing a Timer in ROS
 * @hideconstructor
 */

class Timer {
  constructor(handle, period, callback) {
    this._handle = handle;
    this._period = period;
    this.callback = callback;
  }

  /**
   * The period of the timer in nanoseconds.
   * @type {bigint}
   */
  get period() {
    return this._period;
  }

  get handle() {
    return this._handle;
  }

  /**
   * Check if the timer is ready.
   * @return {boolean} Return true if timer is ready, otherwise return false.
   */
  isReady() {
    return rclnodejs.isTimerReady(this._handle);
  }

  /**
   * Check if the timer is canceled.
   * @return {boolean} Return true if timer is canceled, otherwise return false.
   */
  isCanceled() {
    return rclnodejs.isTimerCanceled(this._handle);
  }

  /**
   * Cancel the timer.
   * @return {undefined}
   */
  cancel() {
    rclnodejs.cancelTimer(this._handle);
  }

  /**
   * Reset the timer.
   * @return {undefined}
   */
  reset() {
    rclnodejs.resetTimer(this._handle);
  }

  /**
   * Get the interval since the last call of this timer.
   * @return {bigint} - the interval value in nanoseconds.
   */
  timeSinceLastCall() {
    return rclnodejs.timerGetTimeSinceLastCall(this._handle);
  }

  /**
   * Get the interval until the next call will happen.
   * @return {bigint} - the interval value in nanoseconds.
   */
  timeUntilNextCall() {
    return rclnodejs.timerGetTimeUntilNextCall(this._handle);
  }

  /**
   * Get the absolute time in nanoseconds when the next callback is due.
   * Note: Only available on ROS2 distributions after Humble.
   * @return {bigint | null} - The next call time in nanoseconds, or null if the timer is canceled.
   *   Returns undefined if not supported on current ROS2 distribution.
   */
  getNextCallTime() {
    if (typeof rclnodejs.getTimerNextCallTime !== 'function') {
      return undefined;
    }
    return rclnodejs.getTimerNextCallTime(this._handle);
  }

  /**
   * Change the timer period.
   * @param {bigint} period - The new period in nanoseconds.
   * @return {undefined}
   */
  changeTimerPeriod(period) {
    rclnodejs.changeTimerPeriod(this._handle, period);
  }

  /**
   * Get the timer period.
   * @return {bigint} - The period in nanoseconds.
   */
  get timerPeriod() {
    return rclnodejs.getTimerPeriod(this._handle);
  }

  /**
   * Set the on reset callback.
   * @param {function} callback - The callback to be called when the timer is reset.
   * @return {undefined}
   */
  setOnResetCallback(callback) {
    if (DistroUtils.getDistroId() <= DistroUtils.getDistroId('humble')) {
      console.warn(
        'setOnResetCallback is not supported by this version of ROS 2'
      );
      return;
    }
    rclnodejs.setTimerOnResetCallback(this._handle, callback);
  }

  /**
   * Clear the on reset callback.
   * @return {undefined}
   */
  clearOnResetCallback() {
    if (DistroUtils.getDistroId() <= DistroUtils.getDistroId('humble')) {
      console.warn(
        'clearOnResetCallback is not supported by this version of ROS 2'
      );
      return;
    }
    rclnodejs.clearTimerOnResetCallback(this._handle);
  }

  /**
   * Call a timer and starts counting again, retrieves actual and expected call time.
   * @return {{expectedCallTime: bigint, actualCallTime: bigint}} - The timer information.
   */
  callTimerWithInfo() {
    if (DistroUtils.getDistroId() <= DistroUtils.getDistroId('humble')) {
      console.warn(
        'callTimerWithInfo is not supported by this version of ROS 2'
      );
      return;
    }
    return rclnodejs.callTimerWithInfo(this._handle);
  }
}

export default Timer;

1	// Copyright (c) 2017 Intel Corporation. All rights reserved.	27✔
2	//	27✔
3	// Licensed under the Apache License, Version 2.0 (the "License");	27✔
4	// you may not use this file except in compliance with the License.	27✔
5	// You may obtain a copy of the License at	27✔
6	//	27✔
7	// http://www.apache.org/licenses/LICENSE-2.0	27✔
8	//	27✔
9	// Unless required by applicable law or agreed to in writing, software	27✔
10	// distributed under the License is distributed on an "AS IS" BASIS,	27✔
11	// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.	27✔
12	// See the License for the specific language governing permissions and	27✔
13	// limitations under the License.	27✔
14		27✔
15	import rclnodejs from './native_loader.js';	27✔
16	import DistroUtils from './distro.js';	27✔
17		27✔
18	/**	27✔
19	* @class - Class representing a Timer in ROS	27✔
20	* @hideconstructor	27✔
21	*/	27✔
22		27✔
23	class Timer {	27✔
24	constructor(handle, period, callback) {	27✔
25	this._handle = handle;	71✔
26	this._period = period;	71✔
27	this.callback = callback;	71✔
28	}	71✔
29		27✔
30	/**	27✔
31	* The period of the timer in nanoseconds.	27✔
32	* @type {bigint}	27✔
33	*/	27✔
34	get period() {	27✔
35	return this._period;	3✔
36	}	3✔
37		27✔
38	get handle() {	27✔
39	return this._handle;	8,165✔
40	}	8,165✔
41		27✔
42	/**	27✔
43	* Check if the timer is ready.	27✔
44	* @return {boolean} Return true if timer is ready, otherwise return false.	27✔
45	*/	27✔
46	isReady() {	27✔
47	return rclnodejs.isTimerReady(this._handle);	4,075✔
48	}	4,075✔
49		27✔
50	/**	27✔
51	* Check if the timer is canceled.	27✔
52	* @return {boolean} Return true if timer is canceled, otherwise return false.	27✔
53	*/	27✔
54	isCanceled() {	27✔
55	return rclnodejs.isTimerCanceled(this._handle);	3,008✔
56	}	3,008✔
57		27✔
58	/**	27✔
59	* Cancel the timer.	27✔
60	* @return {undefined}	27✔
61	*/	27✔
62	cancel() {	27✔
63	rclnodejs.cancelTimer(this._handle);	53✔
64	}	53✔
65		27✔
66	/**	27✔
67	* Reset the timer.	27✔
68	* @return {undefined}	27✔
69	*/	27✔
70	reset() {	27✔
71	rclnodejs.resetTimer(this._handle);	4✔
72	}	4✔
73		27✔
74	/**	27✔
75	* Get the interval since the last call of this timer.	27✔
76	* @return {bigint} - the interval value in nanoseconds.	27✔
77	*/	27✔
78	timeSinceLastCall() {	27✔
79	return rclnodejs.timerGetTimeSinceLastCall(this._handle);	1✔
80	}	1✔
81		27✔
82	/**	27✔
83	* Get the interval until the next call will happen.	27✔
84	* @return {bigint} - the interval value in nanoseconds.	27✔
85	*/	27✔
86	timeUntilNextCall() {	27✔
87	return rclnodejs.timerGetTimeUntilNextCall(this._handle);	1✔
88	}	1✔
89		27✔
90	/**	27✔
91	* Get the absolute time in nanoseconds when the next callback is due.	27✔
92	* Note: Only available on ROS2 distributions after Humble.	27✔
93	* @return {bigint \| null} - The next call time in nanoseconds, or null if the timer is canceled.	27✔
94	* Returns undefined if not supported on current ROS2 distribution.	27✔
95	*/	27✔
96	getNextCallTime() {	27✔
97	if (typeof rclnodejs.getTimerNextCallTime !== 'function') {	3!
98	return undefined;	×
UNCOV 99	}	×
100	return rclnodejs.getTimerNextCallTime(this._handle);	3✔
101	}	3✔
102		27✔
103	/**	27✔
104	* Change the timer period.	27✔
105	* @param {bigint} period - The new period in nanoseconds.	27✔
106	* @return {undefined}	27✔
107	*/	27✔
108	changeTimerPeriod(period) {	27✔
109	rclnodejs.changeTimerPeriod(this._handle, period);	1✔
110	}	1✔
111		27✔
112	/**	27✔
113	* Get the timer period.	27✔
114	* @return {bigint} - The period in nanoseconds.	27✔
115	*/	27✔
116	get timerPeriod() {	27✔
117	return rclnodejs.getTimerPeriod(this._handle);	2✔
118	}	2✔
119		27✔
120	/**	27✔
121	* Set the on reset callback.	27✔
122	* @param {function} callback - The callback to be called when the timer is reset.	27✔
123	* @return {undefined}	27✔
124	*/	27✔
125	setOnResetCallback(callback) {	27✔
126	if (DistroUtils.getDistroId() <= DistroUtils.getDistroId('humble')) {	3✔
127	console.warn(	1✔
128	'setOnResetCallback is not supported by this version of ROS 2'	1✔
129	);	1✔
130	return;	1✔
131	}	1✔
132	rclnodejs.setTimerOnResetCallback(this._handle, callback);	2✔
133	}	3✔
134		27✔
135	/**	27✔
136	* Clear the on reset callback.	27✔
137	* @return {undefined}	27✔
138	*/	27✔
139	clearOnResetCallback() {	27✔
140	if (DistroUtils.getDistroId() <= DistroUtils.getDistroId('humble')) {	2✔
141	console.warn(	1✔
142	'clearOnResetCallback is not supported by this version of ROS 2'	1✔
143	);	1✔
144	return;	1✔
145	}	1✔
146	rclnodejs.clearTimerOnResetCallback(this._handle);	1✔
147	}	2✔
148		27✔
149	/**	27✔
150	* Call a timer and starts counting again, retrieves actual and expected call time.	27✔
151	* @return {{expectedCallTime: bigint, actualCallTime: bigint}} - The timer information.	27✔
152	*/	27✔
153	callTimerWithInfo() {	27✔
154	if (DistroUtils.getDistroId() <= DistroUtils.getDistroId('humble')) {	2✔
155	console.warn(	1✔
156	'callTimerWithInfo is not supported by this version of ROS 2'	1✔
157	);	1✔
158	return;	1✔
159	}	1✔
160	return rclnodejs.callTimerWithInfo(this._handle);	1✔
161	}	2✔
162	}	27✔
163		27✔
164	export default Timer;	27✔

RobotWebTools / rclnodejs / 27193208698

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